US8239133B2 - Global positioning system and dead reckoning (GPSandDR) integrated navigation system - Google Patents
Global positioning system and dead reckoning (GPSandDR) integrated navigation system Download PDFInfo
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- US8239133B2 US8239133B2 US12/495,349 US49534909A US8239133B2 US 8239133 B2 US8239133 B2 US 8239133B2 US 49534909 A US49534909 A US 49534909A US 8239133 B2 US8239133 B2 US 8239133B2
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- gps
- navigation information
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- 238000000034 method Methods 0.000 claims description 17
- 238000010790 dilution Methods 0.000 claims description 4
- 239000012895 dilution Substances 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 description 16
- CLOMYZFHNHFSIQ-UHFFFAOYSA-N clonixin Chemical compound CC1=C(Cl)C=CC=C1NC1=NC=CC=C1C(O)=O CLOMYZFHNHFSIQ-UHFFFAOYSA-N 0.000 description 6
- 230000003068 static effect Effects 0.000 description 6
- 230000010354 integration Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- -1 elements Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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- 230000010287 polarization Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
newLon represents the longitude component of the current position. newLat represents the latitude component of the current position. oldLon represents the longitude component of the reference position. oldLat represents the latitude component of the reference position. VDR
newOri=oldOri+W DR *T (2)
newOri represents the current orientation. oldOri represents the reference orientation. T represents the unit interval of the angular velocity, e.g., 1 s.
β1 represents the GPS weight value. β2 represents the DR weight value.
W GYRO =W GYRO +B GYRO
deltaB1=−mean (W GYRO) (6)
deltaB1 represents the primary offset of the zero drift of the
W GYRO =W GYRO+deltaB1 (7)
B GYRO =B GYRO0+deltaB1+deltaB2 (8)
W GYRO =S GYRO *W GYRO +B GYRO (9)
V ODO =K ODO /K ODO0*2π*R ODO0 (10)
VODO represents the current linear velocity of the vehicle measured by the
R ODO =C ODO *V ODO +R ODO0+deltaR (11)
RODO represents the current rolling radius of the tire. CODO represents the current proportionality factor. deltaR represents the current static error of the rolling radius of the tire. VODO represents the linear velocity of the vehicle measured by the
V ODO=2π*R ODO *K ODO /K ODO0 (12)
Then the VODO can be sent to the
Claims (19)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/495,349 US8239133B2 (en) | 2008-07-02 | 2009-06-30 | Global positioning system and dead reckoning (GPSandDR) integrated navigation system |
EP09164294A EP2141507B1 (en) | 2008-07-02 | 2009-07-01 | Global positioning system and dead reckoning (GPS&DR) integrated navigation system |
JP2009157766A JP5295016B2 (en) | 2008-07-02 | 2009-07-02 | Global positioning system and dead reckoning (GPS & DR) integrated navigation system, and method for providing navigation information of a moving body |
TW098122362A TWI379995B (en) | 2008-07-02 | 2009-07-02 | Global positioning system and dead reckoning integrated navigation system and navigation method thereof |
CN2009101495405A CN101762805B (en) | 2008-07-02 | 2009-07-02 | Integrated navigation system and navigation method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13374308P | 2008-07-02 | 2008-07-02 | |
US12/495,349 US8239133B2 (en) | 2008-07-02 | 2009-06-30 | Global positioning system and dead reckoning (GPSandDR) integrated navigation system |
Publications (2)
Publication Number | Publication Date |
---|---|
US20100030470A1 US20100030470A1 (en) | 2010-02-04 |
US8239133B2 true US8239133B2 (en) | 2012-08-07 |
Family
ID=41152392
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/495,349 Active 2030-09-13 US8239133B2 (en) | 2008-07-02 | 2009-06-30 | Global positioning system and dead reckoning (GPSandDR) integrated navigation system |
Country Status (5)
Country | Link |
---|---|
US (1) | US8239133B2 (en) |
EP (1) | EP2141507B1 (en) |
JP (1) | JP5295016B2 (en) |
CN (1) | CN101762805B (en) |
TW (1) | TWI379995B (en) |
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US11525926B2 (en) | 2019-09-26 | 2022-12-13 | Aptiv Technologies Limited | System and method for position fix estimation using two or more antennas |
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- 2009-07-01 EP EP09164294A patent/EP2141507B1/en not_active Not-in-force
- 2009-07-02 TW TW098122362A patent/TWI379995B/en not_active IP Right Cessation
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- 2009-07-02 CN CN2009101495405A patent/CN101762805B/en not_active Expired - Fee Related
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9366540B2 (en) * | 2014-10-23 | 2016-06-14 | At&T Mobility Ii Llc | Facilitating location determination employing vehicle motion data |
CN107576327A (en) * | 2017-08-07 | 2018-01-12 | 西南技术物理研究所 | Varistructure integrated navigation system design method based on Observable degree analysis of Beidou double |
US11330803B2 (en) | 2018-03-14 | 2022-05-17 | Protect Animals with Satellites, LLC | Corrective collar utilizing geolocation technology |
US11525926B2 (en) | 2019-09-26 | 2022-12-13 | Aptiv Technologies Limited | System and method for position fix estimation using two or more antennas |
Also Published As
Publication number | Publication date |
---|---|
TWI379995B (en) | 2012-12-21 |
TW201003041A (en) | 2010-01-16 |
CN101762805B (en) | 2012-09-05 |
US20100030470A1 (en) | 2010-02-04 |
JP5295016B2 (en) | 2013-09-18 |
EP2141507A1 (en) | 2010-01-06 |
JP2010014715A (en) | 2010-01-21 |
CN101762805A (en) | 2010-06-30 |
EP2141507B1 (en) | 2012-09-12 |
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